\section{Appendix}
	\label{sec:appendix}
	
	\subsection{VHDL files}
	
	\lstinputlisting[label=lst:encoder,caption=quadrature\_demo.vhd]{../final/ip/quadrature/quadrature_demo.vhd}
	
	\clearpage
	
	\lstinputlisting[label=lst:pwm,caption=pwm\_demo.vhd]{../final/ip/pwm/pwm_demo.vhd}

	\clearpage
	
	\lstinputlisting[label=lst:controllerloop,caption=Controller while loop]{whileloop.txt}